Trajectory planning method and unmanned vehicle
By introducing obstacle interaction intents into the trajectory search space for pruning, a stable path plan is generated, which solves the problems of instability and lack of intelligence in existing trajectory planning methods and enables autonomous vehicles to get out of trouble efficiently in complex environments.
CN121877041BActive Publication Date: 2026-07-24EACON TECHNOLOGY CO LTD
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Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- EACON TECHNOLOGY CO LTD
- Filing Date
- 2026-03-17
- Publication Date
- 2026-07-24
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Figure CN121877041B_ABST
Abstract
The present disclosure provides a trajectory planning method and an unmanned vehicle, the method comprising: determining a candidate path node based on a current position of the vehicle, generating a trajectory search space comprising multiple layers of candidate path nodes in a driving direction; performing path search in the trajectory search space layer by layer from a path node corresponding to the current position of the vehicle as a starting point, generating a path segment connecting adjacent two layers of candidate path nodes, and pruning the path segment according to an obstacle interaction intention corresponding to the path segment; and determining a target planning path in the candidate path after completing path search of all layers. The present disclosure improves the intelligence and stability of trajectory planning.
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